Ground vehicle deviation correction control method, system, storage medium and computer program product

Abstract

A method, system, storage medium, and computer program product for correcting deviations in a ground vehicle are disclosed. The ground vehicle is configured to access and retrieve goods at a target storage location. The deviation control method includes: acquiring ground markings corresponding to the target storage location; identifying angular and positional deviations; causing a second positioning coordinate axis to deviate from a preset angle value relative to a second direction in a first clockwise direction; moving the ground vehicle towards a second reference coordinate axis in a direction parallel to the positioning coordinate system; responding to the ground vehicle moving to a position where the positioning origin falls on the second reference coordinate axis, rotating the ground vehicle around the positioning origin in a second clockwise direction by a preset angle value, wherein the second clockwise direction is opposite to the first clockwise direction; and moving the ground vehicle towards the first reference axis in a direction parallel to the second direction, so that the positioning origin coincides with the reference origin. This disclosure can improve inbound and outbound efficiency.

Description

Technical Field

[0001] This disclosure relates to the field of warehousing and logistics, and in particular to a method, system, storage medium, and computer program product for correcting the course of a ground vehicle. Background Technology

[0002] In some warehousing and logistics solutions, temporary storage and retrieval mechanisms are used to move goods from certain storage locations on the shelves. Then, Automated Guided Vehicles (AGVs) operating on the ground retrieve the goods from these temporary storage locations and transport them out of the warehouse. When facing demands for increased storage density and outbound temporary storage capacity, it is necessary to consider how to overcome the problem of motion interference between multiple AGVs, which could affect inbound and outbound efficiency. Summary of the Invention

[0003] This disclosure provides a method, system, storage medium, and computer program product for correcting the course of ground vehicles, which can improve the efficiency of entering and leaving warehouses.

[0004] In one aspect of this disclosure, a deviation correction control method for a ground vehicle is provided, wherein the ground vehicle is configured to access cargo at a target storage location; the deviation correction control method includes:

[0005] In response to the ground vehicle arriving at the target storage location, the ground marker corresponding to the target storage location is obtained through the ground vehicle;

[0006] Identify the angular and positional deviations of the positioning coordinate system of the ground vehicle relative to the reference coordinate system of the ground marker;

[0007] In response to determining, based on the identification result, that the origin of the positioning coordinate system has a positional deviation relative to the origin of the reference coordinate system in a first direction, the second positioning coordinate axis of the positioning coordinate system is deviated from the second direction by a preset angle value along a first clockwise direction, wherein the first direction is the direction of the first reference coordinate axis of the reference coordinate system, and the second direction is the direction of the second reference axis of the reference coordinate system.

[0008] The ground vehicle is moved toward the second reference axis of the reference coordinate system along a direction parallel to the second positioning coordinate axis of the positioning coordinate system;

[0009] In response to the ground vehicle moving to a position where the positioning origin falls on the second reference coordinate axis, the ground vehicle rotates around the positioning origin by the preset angle value in a second clockwise direction, wherein the second clockwise direction is opposite to the first clockwise direction;

[0010] The ground vehicle is moved toward the first reference coordinate axis in a direction parallel to the second direction, so that the positioning origin coincides with the reference origin.

[0011] In some embodiments, the step of deviating the second positioning coordinate axis of the positioning coordinate system from a preset angle value relative to the second direction along the first clockwise direction based on the recognition result includes:

[0012] When the angular deviation of the positioning coordinate system relative to the reference coordinate system is zero, the ground vehicle is rotated around the positioning origin by the preset angle value in the first clockwise direction.

[0013] In some embodiments, the step of deviating the second positioning coordinate axis of the positioning coordinate system from the second direction relative to the second direction by a preset angle value along the first clockwise direction based on the recognition result further includes:

[0014] In response to determining, based on the identification result, that there is an angular deviation between the positioning coordinate system and the reference coordinate system, the ground vehicle is rotated to a position where the second positioning coordinate axis is aligned with the second direction, so as to adjust the angular deviation to zero.

[0015] In some embodiments, the step of deviating the second positioning coordinate axis of the positioning coordinate system from a preset angle value relative to the second direction along the first clockwise direction based on the recognition result includes:

[0016] In response to determining, based on the identification result, that there is an angular deviation between the positioning coordinate system and the reference coordinate system, the ground vehicle is rotated to a position where the second positioning coordinate axis deviates from the preset angle value relative to the second direction along the first clockwise direction, based on the angular deviation and the preset angle value.

[0017] In some embodiments, the step of deviating the second positioning coordinate axis of the positioning coordinate system from the second direction relative to the second direction by a preset angle value along the first clockwise direction based on the recognition result further includes:

[0018] If the angular deviation is consistent with a preset angle value for rotation along the first clockwise direction, then the ground vehicle is kept at a position in which the second positioning coordinate axis is deviated from the preset angle value relative to the second direction along the first clockwise direction.

[0019] In some embodiments, the step of determining that the positioning origin has a positional deviation relative to the reference origin of the reference coordinate system in a first direction based on the identification result includes:

[0020] Based on the recognition result, it is determined whether the first distance value exceeds the allowable error, wherein the first distance value is the distance between the positioning origin and the reference origin in the first direction;

[0021] If the first distance value exceeds the allowable error, it is determined that the positioning origin has a positional deviation relative to the reference origin in the first direction.

[0022] In some embodiments, the correction control method further includes:

[0023] If the first distance value does not exceed the allowable error, then the second distance value is determined to exceed the allowable error based on the recognition result, wherein the second distance value is the distance between the positioning origin and the reference origin in the second direction;

[0024] If the second distance value exceeds the allowable error, the ground vehicle is moved along a direction parallel to the second direction toward the first reference coordinate axis by the second distance value to eliminate the positional deviation between the positioning origin and the reference origin in the second direction.

[0025] In some embodiments, before the step of deviating the second positioning coordinate axis of the positioning coordinate system from the second direction by a preset angle value along the first clockwise direction, the correction control method further includes:

[0026] Based on the recognition result, determine the quadrant in which the positioning origin is located in the reference coordinate system;

[0027] If the origin of the positioning is located in the second or fourth quadrant of the reference coordinate system, then the first clockwise direction is determined to be the counterclockwise direction.

[0028] If the origin of the positioning is located in the first or third quadrant of the reference coordinate system, then the first clockwise direction is determined to be the clockwise direction.

[0029] In some embodiments, the step of moving the ground vehicle toward the second reference axis of the reference coordinate system along a direction parallel to the second positioning coordinate axis of the positioning coordinate system includes:

[0030] In response to causing the second positioning coordinate axis of the positioning coordinate system to deviate from the second direction by a preset angle value along the first clockwise direction, the straight-line distance value from the positioning origin to the second positioning coordinate axis is calculated;

[0031] Determine whether the straight-line distance value exceeds a preset displacement threshold;

[0032] If the straight-line distance value does not exceed the preset displacement threshold, the ground vehicle moves the straight-line distance value along the direction parallel to the second positioning coordinate axis of the positioning coordinate system toward the second reference coordinate axis of the reference coordinate system, so that the positioning origin falls on the second reference coordinate axis. In the state where the positioning origin falls on the second reference axis, the working boundary of the ground vehicle is located within the separation boundary of the target storage location relative to the adjacent storage location or channel.

[0033] In some embodiments, the correction control method further includes:

[0034] If the straight-line distance value exceeds a preset displacement threshold, the ground vehicle is moved along the second positioning coordinate axis parallel to the positioning coordinate system toward the second reference coordinate axis of the reference coordinate system by the preset displacement threshold. After moving the preset displacement threshold, the working boundary of the ground vehicle is located within the separation boundary of the target storage location relative to the adjacent storage location or channel.

[0035] The ground vehicle is rotated around the positioning origin by the preset angle value in the second clockwise direction;

[0036] The ground vehicle is moved toward the first reference coordinate axis in a direction parallel to the second direction, so that the positioning origin falls on the first reference coordinate axis;

[0037] If the ground vehicle is rotated by the preset angle value around the positioning origin in the first clockwise direction, then the step of moving the ground vehicle toward the second reference coordinate axis of the reference coordinate system in a direction parallel to the second positioning coordinate axis of the positioning coordinate system is executed.

[0038] In some embodiments, the preset angle value is 3°~60°.

[0039] In some embodiments, the preset angle value is 15°.

[0040] In some embodiments, the target storage location is the storage location of a shelf layer near the ground, the ground vehicle is a lifting automated guided vehicle (AGV), the positioning origin is the center of the ground vehicle, and the direction of the second positioning coordinate axis is the forward direction of the ground vehicle.

[0041] In one aspect of this disclosure, a deviation correction control system for a ground vehicle is provided, comprising:

[0042] Memory; and

[0043] The processor is coupled to the memory and communicatively connected to the ground vehicle;

[0044] The processor is configured to execute the aforementioned ground vehicle correction control method based on instructions stored in the memory.

[0045] In one aspect of this disclosure, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the aforementioned method for correcting the course of a ground vehicle.

[0046] In one aspect of this disclosure, a computer program product is provided, including computer instructions, wherein the computer instructions, when executed by a processor, implement the aforementioned method for correcting the course of a ground vehicle.

[0047] According to this embodiment, the angular and positional deviations of the positioning coordinate system relative to the reference coordinate system are identified by acquiring the ground markers corresponding to the target storage location using a ground vehicle. If the positioning origin deviates from the reference origin in the first direction, the second positioning coordinate axis is deviated from the second direction by a preset angle value along the first clockwise direction. This causes the ground vehicle to move obliquely to approach the second reference coordinate axis. Then, the positioning origin is brought to a position coinciding with the reference origin by the reverse rotation and movement of the ground vehicle. Compared to the method of correcting deviations by rotating the ground vehicle around its entire radius in related technologies, this embodiment reduces the occupation of storage locations or passageways around the ground vehicle by using smaller angles of rotation and small-amplitude movement. This reduces the need to lock these areas, thereby reducing congestion caused by other ground vehicles waiting to be unlocked in scenarios with limited access paths. This improves entry and exit efficiency and also helps reduce the risk of interference between ground vehicles. Attached Figure Description

[0048] The accompanying drawings, which form part of this specification, illustrate embodiments of this disclosure and, together with the specification, serve to explain the principles of this disclosure.

[0049] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:

[0050] Figure 1 This is a schematic diagram illustrating a scenario example of a warehousing and logistics system.

[0051] Figure 2 This is a schematic diagram showing that the operational boundaries of ground vehicles overlap at various storage locations in the temporary storage layer;

[0052] Figure 3 This is a diagram showing the storage locations of the temporary storage layer below the shelves and the corresponding floor markings;

[0053] Figure 4 This is a flowchart illustrating some embodiments of the deviation control method for ground vehicles according to the present disclosure;

[0054] Figure 5 This is a schematic diagram showing the relationship between the positioning coordinate system and the reference coordinate system in an embodiment of the ground vehicle correction control method of this disclosure;

[0055] Figure 6 This is a schematic diagram of multiple state changes in a correction process according to an embodiment of the correction control method for ground vehicles of the present disclosure;

[0056] Figure 7 This is a flowchart illustrating some other embodiments of the deviation control method for ground vehicles according to the present disclosure;

[0057] Figure 8 This is a schematic diagram of multiple state changes in another correction process according to an embodiment of the correction control method for ground vehicles of the present disclosure;

[0058] Figure 9 This is a flowchart illustrating further embodiments of the deviation control method for ground vehicles according to the present disclosure.

[0059] Figure 10 This is a schematic diagram of the structure of some embodiments of the deviation control system for ground vehicles according to the present disclosure.

[0060] It should be understood that the dimensions of the various parts shown in the accompanying drawings are not drawn to actual scale. Furthermore, the same or similar reference numerals denote the same or similar components.

[0061] Explanation of reference numerals in the attached figures:

[0062] 10. Ground vehicles; 12. Work boundaries;

[0063] 20. Target storage location; 21. Ground markings; 23. Shelving; 24. Storage and retrieval mechanism; 25. Temporary storage layer; 26. Goods; 27. Low aisle; 28. High aisle; 29. ​​Adjacent storage locations;

[0064] 31. Memory; 32. Processor;

[0065] o1, origin; x1, first positioning coordinate axis; y2, second reference coordinate axis;

[0066] o2, reference origin; x2, first reference coordinate axis; y1, second positioning coordinate axis;

[0067] a, First distance value; b, Second distance value; α, Preset angle value. Detailed Implementation

[0068] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The descriptions of the exemplary embodiments are merely illustrative and are in no way intended to limit the present disclosure or its application or use. The present disclosure may be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that the present disclosure will be thorough and complete, and will fully express the scope of the disclosure to those skilled in the art. It should be noted that, unless specifically stated otherwise, the relative arrangement of components and steps, the composition of materials, numerical expressions, and values ​​set forth in these embodiments should be interpreted as exemplary only and not as limiting.

[0069] When using terms like "includes" or "contains," to describe an element as "including" or "containing" one or more elements, it should be understood that the elements listed after the word are components of the element preceding the word, but this does not preclude the possibility that the element preceding the word may also contain other elements. Furthermore, this statement specifically covers situations where the element preceding the word is entirely composed of or specifically realized by all the elements listed after the word.

[0070] The terms "first," "second," and similar terms used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships, and these relative positional relationships may change accordingly when the absolute position of the described object changes.

[0071] In this disclosure, when a specific device is described as being located between a first device and a second device, an intermediary device may or may not be present between the specific device and the first or second device. When a specific device is described as being connected to other devices, the specific device may be directly connected to the other devices without an intermediary device, or it may be not directly connected to the other devices but have an intermediary device.

[0072] All terms used in this disclosure (including technical or scientific terms) have the same meaning as understood by one of ordinary skill in the art to which this disclosure pertains, unless otherwise specifically defined. It should also be understood that terms defined in a general dictionary, such as a dictionary, should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and not as having an idealized or highly formalized meaning, unless expressly defined herein.

[0073] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0074] Figure 1 This is a schematic diagram illustrating a scenario example of a warehousing and logistics system. (Reference) Figure 1 In some warehousing and logistics solutions, a temporary storage layer 25 is set up under the rack 23 to temporarily store goods 26 moved from some storage locations on the rack 23 by the storage and retrieval mechanism 24. Then, an automated guided vehicle (AGV) running on the ground removes the goods 26 from the temporary storage layer 25 and transports them out of the warehouse. The inbound process is the reverse of the outbound process. The AGV transports the goods 26 from outside the warehouse to the temporary storage layer 25, and then the storage and retrieval mechanism 24 moves the goods 26 to the corresponding storage location. Figure 1 The storage and retrieval mechanism 24 shown is a robot that is installed on the shelf surface and can move along the shelf surface, i.e., a shelf robot. This robot can perform storage and retrieval operations on goods between temporary storage layers and other shelf storage locations. In addition to the shelf robot, the storage and retrieval mechanism 24 in this solution can also be a robot that walks on the ground.

[0075] Figure 2 This is a schematic diagram showing the overlapping operational boundaries of ground vehicles at various storage locations in the temporary storage layer. For example... Figure 1 and Figure 2 As shown, the temporary storage layer 25 is generally located below the storage positions of each shelf 23. The portion below the shelf 23 on one side of the temporary storage layer 25 forms a high-level aisle 28, while the portion below the temporary storage layer 25 forms a low-level aisle 27. Both the high-level aisle 28 and the low-level aisle 27 can be used for the passage of the ground vehicle 10 (lifting AGV). The ground vehicle 10 can also access the goods in the temporary storage layer by lifting the pallet and moving itself between the high-level aisle 28 and the low-level aisle 27.

[0076] To increase storage density, the spacing between adjacent shelves 23 can be minimized, and the two aisles beneath the shelves 23 can also be reduced as much as possible while allowing ground vehicles 10 to pass. To increase the amount of temporary outbound storage, the storage locations on the temporary storage layer can be arranged closely together. Research has found that while this method helps increase storage density and outbound storage capacity, it can easily lead to interference between ground vehicles 10 and each other.

[0077] Figure 3 This is a diagram showing the storage locations of the temporary storage layer below the shelving and the corresponding floor markings. (Reference) Figure 2 and Figure 3 When the ground vehicle 10 rotates on the ground below the target storage location 20, and the maximum dimension of the working boundary 12 of the ground vehicle 10 exceeds the distance between adjacent ground markers 21, that is... Figure 2The working boundaries 12 (indicated by a circle with double-dotted lines) of the ground vehicles 10 located in adjacent ground markers 21 overlap to a certain extent. This means that the actions of the ground vehicles 10 during the loading and unloading of goods at the target storage location 20 may interfere with other ground vehicles in adjacent passages, and may also interfere with other ground vehicles below the adjacent storage location 29. This also includes interference with the operation of the storage and retrieval mechanism 24 of the rack 23.

[0078] Furthermore, when the ground vehicle 10 retrieves or stores goods at the target storage location 20 in the temporary storage layer, a certain level of positional accuracy is required to ensure a high success rate. This is primarily achieved by using ground markers 21 (e.g., QR codes) to determine the position of the ground vehicle 10 relative to these markers. When the ground vehicle 10 reaches below the target storage location 20, it can scan the ground markers 21 to determine its own position. This allows the ground vehicle 10 to adjust its posture based on the degree of deviation for precise positioning, then move around the markers before lifting to retrieve or store the goods.

[0079] In some related technologies, in order to correct the deviation of the ground vehicle 10, the ground vehicle 10 is rotated one revolution based on the recognition result of the ground marking 21, and the deviation is completed during the rotation. In order to avoid collisions with other ground vehicles, the operating boundary 12 of the ground vehicle 10 (such as the rotation radius of the vehicle itself or the range formed by the rotation radius when carrying goods) is generally locked to the surrounding storage locations or passages during the rotation correction.

[0080] In this scenario, other ground vehicles need to bypass the locked area. However, for scenarios where the passageway under shelf 23 is relatively limited, ground vehicles may lack suitable passageways and be forced to wait, affecting the efficiency of inbound and outbound operations.

[0081] In view of this, the present disclosure provides a method, system, storage medium, and computer program product for correcting the course of a ground vehicle, which can improve the efficiency of entering and leaving the warehouse.

[0082] Figure 4 This is a schematic flowchart illustrating some embodiments of the deviation correction control method for ground vehicles according to this disclosure. (See reference) Figure 4 This disclosure provides a deviation correction control method for a ground vehicle 10, wherein the ground vehicle 10 is configured to store or retrieve cargo at a target storage location 20. The deviation correction control method includes steps S100 to S600.

[0083] The ground vehicle 10 can operate within the work area, such as moving forward, backward, turning, or rotating in place. The ground vehicle 10 may include a vehicle body and a traveling mechanism mounted on the vehicle body. The traveling mechanism can enable forward or backward movement of the vehicle body, and can also turn and rotate the vehicle body, for example, by rotating the vehicle body in place using differential wheels. The ground vehicle 10 can be an unmanned vehicle, such as a lifting AGV (Automated Guided Vehicle). For a lifting AGV, a lifting mechanism capable of lifting goods can be installed on the vehicle body.

[0084] The target storage location 20 can be a storage location on the shelf 23, but is not limited to that location. For example, the target storage location 20 can also be the originating or receiving end of a goods conveying device. Figure 1 As shown, the target storage location 20 can be the storage location on the shelf layer of the shelf 23 adjacent to the ground, such as the storage location in the temporary storage layer 25 on the lower side of the shelf 23.

[0085] Each step of the correction control method can be executed by a processor. The processor can be signal-connected to the ground vehicle 10 to instruct the ground vehicle 10 to move towards the target storage location 20, perform correction upon arrival at the target storage location 20, and perform operations such as cargo storage and retrieval. The processor can be located locally on the ground vehicle 10 to directly control the ground vehicle 10, or it can operate independently of the ground vehicle 10 and remotely communicate with the control elements in the ground vehicle 10 so that the control elements in the ground vehicle 10 can control the ground vehicle 10 to perform related operations such as movement, rotation, and lifting.

[0086] In step S100, in response to the ground vehicle 10 arriving at the target storage location 20, the ground marker 21 corresponding to the target storage location 20 is acquired by the ground vehicle 10. Before the ground vehicle 10 moves towards the target storage location 20, it can receive instructions indicating its target location, running path, cargo execution actions, etc., so as to move towards the target storage location 20 according to the instructions. When the ground vehicle 10 arrives at the target storage location 20 or after a preset time after arriving at the target storage location 20, the ground marker 21 can be acquired by a reading element installed on the ground vehicle 10.

[0087] Ground marking 21 can be an image marking that provides spatial information about the target storage location 20, such as a positioning QR code pasted or printed on the ground, which can be read by reading elements such as a vision sensor. Ground marking 21 can also take other forms, such as magnetic markings, which can obtain magnetic information by reading elements such as a magnetic sensor.

[0088] In step S200, the angular and positional deviations of the positioning coordinate system of the ground vehicle 10 relative to the reference coordinate system of the ground marker 21 are identified. The obtained ground marker 21 can determine the corresponding reference coordinate system, thereby further identifying the angular and positional relationship between the positioning coordinate system of the ground vehicle 10 and the reference coordinate system of the ground marker 21.

[0089] Figure 5 This is a schematic diagram illustrating the relationship between the positioning coordinate system and the reference coordinate system in an embodiment of the correction control method for ground vehicles according to this disclosure. (Reference) Figure 5 By reading the position and orientation of the ground marker 21, the reference origin o2 and two coordinate axes passing through the reference origin o2 can be determined, namely the first reference coordinate axis x2 and the second reference coordinate axis y2. The reference origin o2 can be set as the center or corner of the ground marker 21.

[0090] By acquiring its own positioning information, the ground vehicle 10 can determine the origin o1 of its positioning coordinate system and two coordinate axes passing through the origin o1: the first positioning coordinate axis x1 and the second positioning coordinate axis y1. The origin o1 can be set as the center of the ground vehicle 10 on the horizontal plane or another location. The direction of the second positioning coordinate axis y1 can be the forward direction of the ground vehicle 10, and the opposite direction is the backward direction. The direction of the first positioning coordinate axis x1 can be the left or right direction of the ground vehicle 10.

[0091] It should be noted that the positioning coordinate system and reference coordinate system can be specifically set as needed, and are not limited to the orientation relationship shown in the attached figure. For example, the direction of the second positioning coordinate axis y1 can also be the rear direction of the ground vehicle 10, and the opposite direction of the second positioning coordinate axis y1 is the front direction of the ground vehicle 10. Alternatively, the direction of the first positioning coordinate axis x1 can be the front or rear direction of the ground vehicle 10, while the direction of the second positioning coordinate axis y1 is the left or right direction of the ground vehicle, etc.

[0092] Thus, by calculating the distance between the positioning origin o1 and the reference origin o2 on the first reference coordinate axis x2 and the second reference coordinate axis y2, the positional deviation of the positioning coordinate system relative to the reference coordinate system can be obtained, which is also the positional deviation of the ground vehicle 10 relative to the ground marker 21 corresponding to the target storage position 20. By calculating the angle between the second positioning coordinate axis y1 and the second reference axis y2, or by calculating the angle between the first positioning coordinate axis x1 and the first reference axis x2, the angular deviation of the positioning coordinate system relative to the reference coordinate system can be obtained, which is also the angular deviation of the ground vehicle 10 relative to the ground marker 21 corresponding to the target storage position 20.

[0093] In step S300, in response to determining, based on the identification result, that the positioning origin o1 of the positioning coordinate system has a positional deviation relative to the reference origin o2 of the reference coordinate system in the first direction, the second positioning coordinate axis y1 of the positioning coordinate system is deviated from the second direction by a preset angle value α along the first clockwise direction, wherein the first direction is the direction of the first reference coordinate axis x2 of the reference coordinate system, and the second direction is the direction of the second reference axis y2 of the reference coordinate system.

[0094] In step S300, the step of making the second positioning coordinate axis y1 deviate from the preset angle value α along the first clockwise direction relative to the second direction can be either the ground vehicle 10 directly rotates into position, or the ground vehicle 10 is first adjusted to have no angle deviation and then rotated along the first clockwise direction by the preset angle value α.

[0095] The first clockwise direction here can be either clockwise or counterclockwise. The first clockwise direction can be determined by default or based on the position of the origin o1 in the reference coordinate system.

[0096] Directly rotating to a position deviating from a preset angle value improves correction efficiency. Specifically, the step of causing the second positioning coordinate axis y1 of the positioning coordinate system to deviate from the preset angle value α along the first clockwise direction relative to the second direction based on the identification result may include: in response to determining that there is an angular deviation between the positioning coordinate system and the reference coordinate system based on the identification result, rotating the ground vehicle 10 to a position where the second positioning coordinate axis y1 deviates from the preset angle value α along the first clockwise direction relative to the second direction.

[0097] The difference between the angular deviation and the preset angle value α is calculated according to the same clockwise direction. Ground vehicles with angular deviations can directly rotate into position based on this difference, effectively improving correction efficiency. If the angular deviation is consistent with the preset angle value α of rotation along the first clockwise direction, that is, if the second positioning coordinate axis y1 is at a position deviating from the preset angle value α relative to the second direction along the first clockwise direction, the ground vehicle 10 can be kept at a position where the second positioning coordinate axis y1 is deviated from the preset angle value α relative to the second direction along the first clockwise direction. This eliminates the step of adjusting the angle before the ground vehicle moves obliquely, which helps to reduce correction time.

[0098] The ground vehicle 10 can be adjusted to have no angular deviation before rotating by a preset angle value α along the first clockwise direction. Specifically, the step of causing the second positioning coordinate axis y1 of the positioning coordinate system to deviate from the second direction by the preset angle value α along the first clockwise direction according to the recognition result includes: in the state that the angular deviation of the positioning coordinate system relative to the reference coordinate system is zero, causing the ground vehicle 10 to rotate around the positioning origin o1 along the first clockwise direction by the preset angle value α.

[0099] Here, the state in which the angular deviation of the positioning coordinate system relative to the reference coordinate system is zero can be either the state when the ground vehicle 10 arrives at the target storage position 20, i.e. there is no angular deviation upon arrival, or the state in which there is an angular deviation when the ground vehicle 10 arrives at the target storage position 20, and the angular deviation is eliminated by adjusting the angle of the ground vehicle 10.

[0100] With the angular deviation of the positioning coordinate system relative to the reference coordinate system being zero, the ground vehicle 10 is rotated around the positioning origin o1 in a first clockwise direction by a preset angle value α.

[0101] The preset angle value α can be a fixed value or selected within a preset range according to the actual situation. Optionally, the preset angle value α is 3°~60°, for example, α can be 3°, 5°, 10°, 15°, 22°, 30°, 45° or 60°. By selecting a suitable preset angle value, both the correction efficiency and the space occupied during the correction process can be taken into account.

[0102] In step S400, the ground vehicle 10 is moved towards the second reference coordinate axis y2 of the reference coordinate system along a direction parallel to the second positioning coordinate axis y1 of the positioning coordinate system. After completing the rotation of a preset angle value α, the ground vehicle 10 can be moved along the direction of the second positioning coordinate axis y1 or the opposite direction, based on the relative position of the second positioning coordinate axis y1 and the second reference coordinate axis y2, and the position of the positioning origin o1 in the second reference coordinate system, so that the positioning origin o1 approaches the second reference axis y2. During this process, the positioning origin o1 gradually moves towards the reference origin o2 in the first direction.

[0103] In step S500, in response to the ground vehicle 10 moving to a position where the positioning origin o1 falls on the second reference coordinate axis y2, the ground vehicle 10 rotates around the positioning origin o1 in a second clockwise direction by a preset angle value α, wherein the second clockwise direction is opposite to the first clockwise direction. The ground vehicle 10 can reach the position where the positioning origin o1 falls on the second reference coordinate axis y2 in a single movement. Depending on the range occupied by the ground vehicle 10 during the adjustment process, a combination of movement and rotation can also be used to gradually move the ground vehicle 10 to the position where the positioning origin o1 falls on the second reference coordinate axis y2.

[0104] The second clockwise direction is the opposite of the first clockwise direction. After the positioning origin o1 falls on the second reference coordinate axis y2, the ground vehicle 10 is rotated around the positioning origin o1 in the second clockwise direction by the preset angle value α. Then the second positioning coordinate axis y1 will rotate to the same angle as the second reference coordinate axis y2. At this time, the second positioning coordinate axis y1 and the second reference axis y2 coincide and have the same direction.

[0105] In step S600, the ground vehicle 10 is moved towards the first reference coordinate axis x2 in a direction parallel to the second direction, so that the positioning origin o1 coincides with the reference origin o2. With the second positioning coordinate axis y1 and the second reference coordinate axis y2 coinciding and in the same direction, the movement of the ground vehicle 10 causes the positioning origin o1 to tend towards the first reference coordinate axis x2 until it coincides with the reference origin o2. At this point, the two coordinate systems achieve precise alignment, thus completing the correction process of the ground vehicle 10.

[0106] In this embodiment, the angular and positional deviations of the positioning coordinate system relative to the reference coordinate system are identified by acquiring the ground markers corresponding to the target storage location using a ground vehicle. If the positioning origin deviates from the reference origin in the first direction, the second positioning coordinate axis is deviated from the second direction by a preset angle value along the first clockwise direction. This causes the ground vehicle to move obliquely to approach the second reference coordinate axis. Then, the positioning origin is brought to a position coinciding with the reference origin through reverse rotation and movement of the ground vehicle. Compared to related technologies that correct deviations by rotating the ground vehicle around its entire radius, this embodiment reduces the occupation of storage locations or passageways around the ground vehicle by using smaller angles of rotation and small-amplitude movement. This reduces the need to lock these areas, thereby reducing congestion caused by other ground vehicles waiting to be unlocked in scenarios with limited access paths. This improves entry and exit efficiency and also helps reduce the risk of interference between ground vehicles.

[0107] Figure 6This is a schematic diagram illustrating multiple state changes in a correction process according to an embodiment of the correction control method for ground vehicles of this disclosure. (Reference) Figure 6 In some embodiments, step S300, which causes the second positioning coordinate axis y1 of the positioning coordinate system to deviate from the second direction by a preset angle value α along the first clockwise direction based on the identification result, further includes: in response to determining that there is an angle deviation between the positioning coordinate system and the reference coordinate system based on the identification result, rotating the ground vehicle 10 to a position where the second positioning coordinate axis y1 is consistent with the second direction based on the angle deviation, so as to adjust the angle deviation to zero.

[0108] Based on the recognition results, the angular deviation of the positioning coordinate system relative to the reference coordinate system can be determined, such as... Figure 6 In (a), the second positioning coordinate axis y1 has a certain angular deviation relative to the second reference coordinate axis y2 in the counterclockwise direction. Based on the direction and value of this angular deviation, it can be determined as follows: Figure 6 As shown in (b), the ground vehicle 10 is rotated clockwise by the value of the angular deviation to adjust the angular deviation to zero. At this time, the second positioning coordinate axis y1 is parallel to the second reference coordinate axis y2 and has the same direction.

[0109] After identifying the angular deviation, the angular deviation is adjusted to zero. This provides an accurate basis for adjusting the rotation angle during the subsequent correction of the position deviation of the ground vehicle. Compared with correcting both angular and position deviations at the same time, this method can effectively reduce the difficulty of adjustment and improve the accuracy of adjustment.

[0110] Figure 7 This is a flowchart illustrating some other embodiments of the deviation correction control method for ground vehicles according to this disclosure. (See reference) Figure 1 and Figure 7 In some embodiments, step S300, which determines that the positioning origin o1 has a positional deviation relative to the reference origin o2 of the reference coordinate system in the first direction based on the identification result, includes: determining whether a first distance value a exceeds the allowable error based on the identification result, wherein the first distance value a is the distance between the positioning origin o1 and the reference origin o2 in the first direction; if the first distance value a exceeds the allowable error, then it is determined that the positioning origin o1 has a positional deviation relative to the reference origin o2 in the first direction.

[0111] The allowable error can be set according to the actual situation such as the control performance and accuracy requirements of the ground vehicle. For example, the allowable error can be set to 5mm, or it can be set to 1.5mm, 3mm, 7mm, etc.

[0112] like Figure 5As shown, the first distance value 'a' is the distance between the positioning origin o1 and the reference origin o2 in the first direction, which is equivalent to the absolute value of the horizontal axis coordinate of the positioning origin o1 in the reference coordinate system. If this value exceeds the allowable error, the error needs to be corrected.

[0113] If the first distance value a does not exceed the allowable error, the position error in the second direction can be further checked, that is, the second distance value b is determined based on the identification result to see if it exceeds the allowable error, wherein the second distance value b is the distance between the positioning origin o1 and the reference origin o2 in the second direction. If the second distance value b exceeds the allowable error, the ground vehicle 10 is moved along a direction parallel to the second direction toward the first reference coordinate axis x2 by the second distance value b, so as to eliminate the positional deviation between the positioning origin o1 and the reference origin o2 in the second direction.

[0114] like Figure 5 As shown, the second distance value b is the distance between the positioning origin o1 and the reference origin o2 in the second direction, which is equivalent to the absolute value of the vertical coordinate of the positioning origin o1 in the reference coordinate system. If this value exceeds the allowable error, the error needs to be corrected. If the value does not exceed the allowable error, the deviation between the positioning origin o1 and the reference origin o2 in the two perpendicular coordinate axis directions is small, thus eliminating the need for position correction and improving the efficiency of inbound and outbound operations.

[0115] refer to Figure 7 In some embodiments, before the step of causing the second positioning coordinate axis y1 of the positioning coordinate system to deviate from the second direction by a preset angle value α along the first clockwise direction, the correction control method further includes: determining the quadrant in the reference coordinate system where the positioning origin o1 is located based on the identification result; if the positioning origin o1 is located in the second or fourth quadrant of the reference coordinate system, then determining the first clockwise direction as the counterclockwise direction; if the positioning origin o1 is located in the first or third quadrant of the reference coordinate system, then determining the first clockwise direction as the clockwise direction.

[0116] The quadrant in which the origin o1 lies in the reference coordinate system can be determined based on its x-axis and y-axis coordinates. For example, when the x-axis coordinate is positive and the y-axis coordinate is negative, the origin o1 is in the fourth quadrant; when the x-axis coordinate is negative and the y-axis coordinate is positive, the origin o1 is in the second quadrant; when both the x-axis and y-axis coordinates are positive, the origin o1 is in the first quadrant; and when both the x-axis and y-axis coordinates are negative, the origin o1 is in the third quadrant.

[0117] like Figure 5 and Figure 6As shown, when the positioning origin o1 is located in the second quadrant of the reference coordinate system, since the positioning origin o1 is located at the upper left corner of the reference origin o2, rotating the ground vehicle 10 counterclockwise will cause the extension line of the second positioning coordinate axis in the opposite direction to move closer to the second reference coordinate axis. Furthermore, when the ground vehicle 10 moves in the opposite direction of the second positioning coordinate axis, it can reduce the deviation of the horizontal axis position while also reducing the deviation of the vertical axis position. Similarly, when the positioning origin o1 is located in the fourth quadrant of the reference coordinate system, rotating the ground vehicle 10 counterclockwise will cause the extension line of the second positioning coordinate axis in the positive direction to move closer to the second reference coordinate axis. When the ground vehicle 10 moves in the direction of the second positioning coordinate axis, it can reduce the deviation of the horizontal axis position while also reducing the deviation of the vertical axis position.

[0118] When the positioning origin o1 is located in the first or third quadrant of the reference coordinate system, rotating the ground vehicle 10 clockwise can reduce the deviation of the horizontal and vertical axis positions as the ground vehicle moves toward the second reference coordinate axis.

[0119] The following is combined Figure 6 and Figure 7 A specific example of a correction control method for ground vehicles is illustrated, which includes the following steps.

[0120] Step S101: The ground vehicle 10 arrives at the target storage location 20 and obtains the ground marker 21 corresponding to the target storage location 20 through a visual sensor.

[0121] Step S102: Identify the angular and positional deviations of the positioning coordinate system of the ground vehicle 10 relative to the reference coordinate system of the ground marker 21.

[0122] Step S103: Based on the recognition result, determine whether there is an angular deviation between the positioning coordinate system and the reference coordinate system. If an angular deviation exists, proceed to step S104; otherwise, proceed to step S105. Figure 6 As shown in (a), there is an angular deviation at this point, which needs to be corrected.

[0123] Step S104: Rotate the ground vehicle 10 to a position where the second positioning coordinate axis y1 is aligned with the second direction, based on the angular deviation, to adjust the angular deviation to zero, and then execute step S105. Figure 6 As shown in (b), when the angular deviation is zero, the second positioning coordinate axis y1 is parallel to the second reference coordinate axis y2 and has the same direction.

[0124] Step S105: Determine whether the first distance value a exceeds the allowable error (e.g., 5mm) based on the recognition result, wherein the first distance value a is the distance between the positioning origin o1 and the reference origin o2 in the first direction; if the first distance value a exceeds the allowable error, it is determined that the positioning origin o1 has a positional deviation relative to the reference origin o2 in the first direction, and then step S106 is executed; otherwise, step S107 is executed.

[0125] Step S106: Based on the recognition result, determine the quadrant in the reference coordinate system where the positioning origin o1 is located. If the positioning origin o1 is in the second or fourth quadrant of the reference coordinate system, then determine the first clockwise direction as counterclockwise; if the positioning origin o1 is in the first or third quadrant of the reference coordinate system, then determine the first clockwise direction as clockwise. Then execute step S109. Figure 6 As shown in (a), the origin o1 is in the second quadrant, so the first clockwise direction is determined to be the counterclockwise direction.

[0126] Step S107: Determine whether the second distance value b exceeds the allowable error (e.g., 5mm) based on the recognition result, wherein the second distance value b is the distance between the positioning origin o1 and the reference origin o2 in the second direction; if the second distance value b exceeds the allowable error, then proceed to step S108, otherwise end the operation.

[0127] Step S108: Move the ground vehicle 10 along a direction parallel to the second direction toward the first reference coordinate axis x2 by the second distance value b, so as to eliminate the positional deviation between the positioning origin o1 and the reference origin o2 in the second direction. Then, return to step S102 to verify whether the correction purpose has been achieved.

[0128] Step S109: Rotate the ground vehicle 10 around the positioning origin o1 in a first clockwise direction by a preset angle value α, and then execute step S110. Figure 6 As shown in (c), the ground vehicle 10 rotates 15° counterclockwise around the positioning origin o1.

[0129] Step S110: Move the ground vehicle 10 along the direction parallel to the second positioning coordinate axis y1 of the positioning coordinate system toward the second reference coordinate axis y2 of the reference coordinate system. For example... Figure 6 As shown in (d), the ground vehicle 10 moves in the opposite direction to the direction of the second positioning coordinate axis y1. The straight-line distance to the position where the positioning origin o1 falls on the second reference coordinate axis y2 can be referenced. Figure 5 It is calculated using trigonometric functions, for example, the straight-line distance is taken as b / sin(α).

[0130] Step S111: After the ground vehicle 10 moves to a position where the positioning origin o1 falls on the second reference coordinate axis y2, the ground vehicle 10 is rotated around the positioning origin o1 in a second clockwise direction by the preset angle value α, wherein the second clockwise direction is opposite to the first clockwise direction; then step S112 is executed. Figure 6 As shown in (e), the ground vehicle 10 rotates 15° clockwise around the positioning origin o1 so that the second positioning coordinate axis y1 coincides with the second reference coordinate axis y2 and is in the same direction.

[0131] Step S112: Move the ground vehicle 10 towards the first reference coordinate axis x2 along a direction parallel to the second direction, so that the positioning origin o1 coincides with the reference origin o2, thereby completing the correction process. Figure 6 As shown in (f), the ground vehicle 10 moves a preset distance along the second direction. This distance can be calculated in advance, for example, the distance can be [b / tg(α)]-a.

[0132] Figure 8 This is a schematic diagram of multiple state changes in another correction process according to an embodiment of the correction control method for ground vehicles of the present disclosure. Figure 9 This is a schematic flowchart illustrating further embodiments of the deviation correction control method for ground vehicles according to this disclosure. (See also:) Figure 1 , Figure 8 and Figure 9 In some embodiments, step S400, which moves the ground vehicle 10 toward the second reference coordinate axis y2 of the reference coordinate system along a direction parallel to the second positioning coordinate axis y1 of the positioning coordinate system, includes the following steps.

[0133] Step S410: In response to rotating the ground vehicle 10 around the positioning origin o1 in a first clockwise direction by a preset angle value α, calculate the straight-line distance value from the positioning origin o1 to the second positioning coordinate axis y1.

[0134] Step S420: Determine whether the straight-line distance value exceeds a preset displacement threshold. If the straight-line distance value does not exceed the preset displacement threshold, proceed to step S430; otherwise, proceed to step S440.

[0135] Step S430: Move the ground vehicle 10 along the direction parallel to the second positioning coordinate axis y1 of the positioning coordinate system towards the second reference coordinate axis y2 of the reference coordinate system by the linear distance value, so that the positioning origin o1 falls on the second reference coordinate axis y2. When the positioning origin o1 falls on the second reference coordinate axis y2, the working boundary of the ground vehicle 10 is located within the separation boundary of the target storage location 20 relative to adjacent storage locations or channels. Then, step S500 can be executed.

[0136] Step S440: Move the ground vehicle 10 along the direction parallel to the second positioning coordinate axis y1 of the positioning coordinate system toward the second reference coordinate axis y2 of the reference coordinate system by the preset displacement threshold, wherein after moving the preset displacement threshold, the working boundary of the ground vehicle 10 is located within the separation boundary of the target storage location 20 relative to the adjacent storage location or channel.

[0137] Step S450: Rotate the ground vehicle 10 around the positioning origin o1 in the second clockwise direction by the preset angle value α.

[0138] Step S460: Move the ground vehicle 10 toward the first reference coordinate axis x2 in a direction parallel to the second direction, so that the positioning origin o1 falls on the first reference coordinate axis x2.

[0139] Step S470: Rotate the ground vehicle 10 around the positioning origin o1 by the preset angle value α in the first clockwise direction, then return to step S410 to execute the step in step S410 of calculating the straight-line distance value from the positioning origin o1 to the second positioning coordinate axis y1.

[0140] In this embodiment, the determination of the preset displacement threshold is related to the working boundary of the ground vehicle 10 relative to adjacent storage locations or channels. If the working boundary of the ground vehicle 10 is wide, a larger preset displacement threshold can be set; conversely, a relatively smaller preset displacement threshold can be set. For working boundaries of different sizes, the preset angle value α can also be set as needed to meet the requirements of improving correction efficiency and not exceeding the separation boundary.

[0141] like Figure 8As shown in (b)-(d), since the calculated straight-line distance value b / sin(α) exceeds a preset displacement threshold (e.g., 8mm), the vehicle moves in the opposite direction of the second positioning coordinate axis y1, moving the vehicle in the opposite direction. At this point, the ground vehicle 10 is close to the separation boundary. Then, it rotates in the opposite direction by a preset angle value α and moves along the second direction until the positioning origin o1 falls on the first reference coordinate axis x2. This achieves a gradual small-angle adjustment scheme for the positioning origin o1 relative to the reference origin o2, which can meet the correction requirements in a relatively compact space.

[0142] Figure 10 This is a schematic diagram of the structure of some embodiments of the deviation correction control system for ground vehicles according to this disclosure. (Reference) Figure 10 This disclosure provides a deviation correction control system for a ground vehicle 10, including a memory 31 and a processor 32. The processor 32 is coupled to the memory 31 and communicatively connected to the ground vehicle 10. The processor 32 is configured to execute the deviation correction control method of the ground vehicle 10 described in any of the preceding embodiments based on instructions stored in the memory 31.

[0143] The memory 31 may be a disk, hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. The memory 31 is used to store instructions in the corresponding embodiment of the retrieval method. The processor 32 is coupled to the memory 31 and may be implemented at least partially by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: microprocessors, microcontrollers, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), etc. The processor 32 is used to execute the instructions stored in the memory.

[0144] In one aspect of this disclosure, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the deviation correction control method for a ground vehicle as described in any of the foregoing embodiments. Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0145] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0146] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0147] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0148] In one aspect of this disclosure, a computer program product is provided, including computer instructions, wherein the computer instructions, when executed by a processor, implement the deviation control method for a ground vehicle as described in any of the foregoing embodiments.

[0149] The embodiments of this disclosure have now been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0150] While specific embodiments of this disclosure have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A method of deviation control for a ground vehicle (10), wherein, The ground carrier (10) is configured to perform cargo storage and retrieval on a target storage location (20); The deviation correction control method comprises: In response to the ground carrier (10) reaching the target storage location (20), the ground carrier (10) acquires a ground mark (21) corresponding to the target storage location (20); Identify the angle deviation and position deviation of the positioning coordinate system of the ground carrier (10) relative to the reference coordinate system of the ground mark (21); In response to determining from the identification result that the positioning origin (o1) of the positioning coordinate system has a position deviation in a first direction relative to the reference origin (o2) of the reference coordinate system, according to the identification result, the second positioning coordinate axis (y1) of the positioning coordinate system is offset by a preset angle value (α) in a first clock direction relative to a second direction, wherein the first direction is the direction of the first reference coordinate axis (x2) of the reference coordinate system, and the second direction is the direction of the second reference coordinate axis (y2) of the reference coordinate system; Make the ground carrier (10) move towards the second reference coordinate axis (y2) along a direction parallel to the second positioning coordinate axis (y1) of the positioning coordinate system; In response to the ground carrier (10) moving to a position where the positioning origin (o1) falls on the second reference coordinate axis (y2), make the ground carrier (10) rotate by the preset angle value (α) around the positioning origin (o1) in a second clock direction, wherein the second clock direction is opposite to the first clock direction; Make the ground carrier (10) move towards the first reference coordinate axis (x2) along a direction parallel to the second direction, so that the positioning origin (o1) coincides with the reference origin (o2); Wherein, according to the identification result, the second positioning coordinate axis (y1) of the positioning coordinate system is offset by a preset angle value (α) in a first clock direction relative to a second direction, which comprises: In the state that the angle deviation of the positioning coordinate system relative to the reference coordinate system is zero, make the ground carrier (10) rotate by the preset angle value (α) around the positioning origin (o1) in the first clock direction; According to the identification result, the second positioning coordinate axis (y1) of the positioning coordinate system is offset by a preset angle value (α) in a first clock direction relative to a second direction, which further comprises: In response to determining from the identification result that the positioning coordinate system has an angle deviation relative to the reference coordinate system, according to the angle deviation, the ground carrier (10) is rotated to a position where the second positioning coordinate axis (y1) coincides with the second direction, so as to adjust the angle deviation to zero.

2. The deviation control method according to claim 1, wherein According to the identification result, the second positioning coordinate axis (y1) of the positioning coordinate system is offset by a preset angle value (α) in a first clock direction relative to a second direction, which comprises: in response to determining, according to the identification result, that the positioning coordinate system has an angle deviation relative to the reference coordinate system, rotating the ground vehicle (10) to a position in which the second positioning coordinate axis (y1) is offset from the second direction by the preset angle value (a) in the first clockwise direction according to the angle deviation and the preset angle value (a).

3. The deviation control method according to claim 2, wherein The step of causing the second positioning coordinate axis (y1) of the positioning coordinate system to be offset from the second direction by a preset angle value (a) in a first clockwise direction according to the identification result further comprises: if the angle deviation is consistent with the preset angle value (a) of rotation in the first clockwise direction, keeping the ground vehicle (10) in the position in which the second positioning coordinate axis (y1) is offset from the second direction by the preset angle value (a) in the first clockwise direction.

4. The deviation control method of claim 1, wherein, The step of determining, according to the identification result, that the positioning origin (o1) has a position deviation in the first direction relative to the reference origin (o2) of the reference coordinate system comprises: determining, according to the identification result, whether a first distance value (a) exceeds an allowable error, wherein the first distance value (a) is the distance between the positioning origin (o1) and the reference origin (o2) in the first direction; if the first distance value (a) exceeds the allowable error, determining that the positioning origin (o1) has a position deviation in the first direction relative to the reference origin (o2).

5. The correction control method of claim 4, further comprising: if the first distance value (a) does not exceed the allowable error, determining, according to the identification result, whether a second distance value (b) exceeds the allowable error, wherein the second distance value (b) is the distance between the positioning origin (o1) and the reference origin (o2) in the second direction; if the second distance value (b) exceeds the allowable error, causing the ground vehicle (10) to move by the second distance value (b) in a direction parallel to the second direction towards the first reference coordinate axis (x2) to eliminate the position deviation of the positioning origin (o1) and the reference origin (o2) in the second direction.

6. The deviation control method of claim 1, wherein, Before the step of causing the second positioning coordinate axis (y1) of the positioning coordinate system to be offset from the second direction by a preset angle value (a) in a first clockwise direction, the correction control method further comprises: determining, according to the identification result, the quadrant in which the positioning origin (o1) is located in the reference coordinate system; if the positioning origin (o1) is located in the second or fourth quadrant of the reference coordinate system, determining that the first clockwise direction is a counterclockwise direction; if the positioning origin (o1) is located in the first or third quadrant of the reference coordinate system, determining that the first clockwise direction is a clockwise direction.

7. The deviation control method of claim 1, wherein, The step of causing the ground vehicle (10) to move in a direction parallel to the second positioning coordinate axis (y1) of the positioning coordinate system towards the second reference coordinate axis (y2) of the reference coordinate system comprises: calculating a straight line distance value from the positioning origin (o1) to the second positioning coordinate axis (y1) in a straight line movement; determining whether the straight line distance value exceeds a preset displacement threshold value; if the straight line distance value does not exceed the preset displacement threshold value, moving the ground vehicle (10) by the straight line distance value in a direction parallel to the second positioning coordinate axis (y1) of the positioning coordinate system towards the second reference coordinate axis (y2) of the reference coordinate system, so that the positioning origin (o1) falls on the second reference coordinate axis (y2), wherein in the state that the positioning origin (o1) falls on the second reference coordinate axis (y2), the working boundary of the ground vehicle (10) is located within the separation boundary of the target storage location (20) relative to an adjacent storage location or aisle.

8. The deviation correction control method according to claim 7, further comprising: if the straight line distance value exceeds the preset displacement threshold value, moving the ground vehicle (10) by the preset displacement threshold value in a direction parallel to the second positioning coordinate axis (y1) of the positioning coordinate system towards the second reference coordinate axis (y2) of the reference coordinate system, wherein in the state that the preset displacement threshold value is moved, the working boundary of the ground vehicle (10) is located within the separation boundary of the target storage location (20) relative to an adjacent storage location or aisle; rotating the ground vehicle (10) by the preset angle value (a) around the positioning origin (o1) in the second clock direction; moving the ground vehicle (10) in a direction parallel to the second direction towards the first reference coordinate axis (x2) so that the positioning origin (o1) falls on the first reference coordinate axis (x2); if the straight line distance value does not exceed the preset displacement threshold value, moving the ground vehicle (10) by the straight line distance value in a direction parallel to the second positioning coordinate axis (y1) of the positioning coordinate system towards the second reference coordinate axis (y2) of the reference coordinate system, so that the positioning origin (o1) falls on the second reference coordinate axis (y2), wherein in the state that the positioning origin (o1) falls on the second reference coordinate axis (y2), the working boundary of the ground vehicle (10) is located within the separation boundary of the target storage location (20) relative to an adjacent storage location or aisle.

9. The deviation control method of claim 1, wherein, The preset angle value (a) is 3°-60°.

10. The deviation control method according to claim 9, wherein The preset angle value (a) is 15°.

11. The deviation control method of claim 1, wherein, The target storage location (20) is a storage location of a shelf layer adjacent to the ground, the ground vehicle (10) is a lift-type automatic guided vehicle, the positioning origin (o1) is the center of the ground vehicle (10), and the direction of the second positioning coordinate axis (y1) is the front direction of the ground vehicle (10).

12. A deviation correction control system of a ground vehicle (10), comprising: a memory (31); and a processor (32) coupled to the memory (31) and in communication connection with the ground vehicle (10); wherein the processor (32) is configured to perform the deviation correction control method of the ground vehicle (10) according to any one of claims 1-11 based on instructions stored in the memory (31).

13. A computer readable storage medium having stored thereon a computer program which, when executed by a processor (32), implements the method of deviation correction control of a ground vehicle (10) according to any one of claims 1 to 11.

14. A computer program product comprising computer instructions, wherein said computer instructions, when executed by a processor (32), implement the method of deviation correction control of a ground vehicle (10) according to any one of claims 1 to 11.

Images